Dynamics of Tree-Type Robotic Systems
By: by Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt
Contributors: Saha, Subir Kumar; Dutt, Jayanta Kumar; SpringerLink (Online service)
Series: Intelligent Systems, Control and Automation: Science and Engineering -- 62
Publisher: Springer Netherlands; Imprint: Springer
Published: 2013
Place of publication: Dordrecht
Language: eng
Format: [electronic resource] /
Number of pages: 251
ISBN-13: 9789400750067
Subjects: Engineering; Materials; Mathematical Modeling and Industrial Mathematics; Robotics and Automation; Continuum Mechanics and Mechanics of Materials
Description: <p>This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of several legged robots. <br><br>The book will help graduate students, researchers and practicing engineers in applying their knowledge of dynamics for analysis of complex robotic systems. The knowledge contained in the book will help one in virtual testing of robot operation, trajectory planning and control.</p>
Table of contents: title: <p><p><p><p>1<b> </b>Introduction; title: 2 Dynamics of Robotic Systems; title: 3 Euler-Angle-Joints (EAJs); title: 4 Kinematics of Tree-Type Robotic Systems; title: 5 Dynamics of Tree-Type Robotic Systems; title: 6 Recursive Dynamics for Fixed-Base Robotic Systems; title: 7 Recursive Dynamics for Floating-Base Systems; title: 8 Closed-Loop Systems; title: 9 Controlled Robotic Systems; title: 10 Recursive Dynamics Simulator (ReDySim); title: <br>Appendices; title: References.-Index.</p>.